mani-skill-nightly 2025.6.28.701__py3-none-any.whl → 2025.6.28.2040__py3-none-any.whl

mani_skill/envs/sapien_env.py

@@ -98,12 +98,18 @@ class BaseEnv(gym.Env):
         sim_backend (str): By default this is "auto". If sim_backend is "auto", then if ``num_envs == 1``, we use the PhysX CPU sim backend, otherwise
             we use the PhysX GPU sim backend and automatically pick a GPU to use.
             Can also be "physx_cpu" or "physx_cuda" to force usage of a particular sim backend.
-            To select a particular GPU to run the simulation on, you can pass "cuda:n" where n is the ID of the GPU,
+            To select a particular GPU to run the simulation on, you can pass "physx_cuda:n" where n is the ID of the GPU,
             similar to the way PyTorch selects GPUs.
             Note that if this is "physx_cpu", num_envs can only be equal to 1.
 
-        render_backend (str): By default this is "gpu". If render_backend is "gpu", then we auto select a GPU to render with.
-            It can be "cuda:n" where n is the ID of the GPU to render with. If this is "cpu", then we render on the CPU.
+        render_backend (str): By default this is "gpu". If render_backend is "gpu" or it's alias "sapien_cuda", then we auto select a GPU to render with.
+            It can be "sapien_cuda:n" where n is the ID of the GPU to render with. If this is "cpu" or "sapien_cpu", then we try to render on the CPU.
+            If this is "none" or None, then we disable rendering.
+
+            Note that some environments may require rendering functionalities to work. Moreover
+            it is sometimes difficult to determine before running an environment if your machine can render or not. If you encounter some issue with
+            rendering you can first try to double check your NVIDIA drivers / Vulkan drivers are setup correctly. If you don't need to do rendering
+            you can simply disable it by setting render_backend to "none" or None.
 
         parallel_in_single_scene (bool): By default this is False. If True, rendered images and the GUI will show all objects in one view.
             This is only really useful for generating cool videos showing all environments at once but it is not recommended

mani_skill/envs/utils/system/backend.py

@@ -3,6 +3,7 @@ Utilities for determining the simulation backend and devices
 """
 import platform
 from dataclasses import dataclass
+from typing import Union
 
 import sapien
 import torch
@@ -18,8 +19,8 @@ class BackendInfo:
     """the device on which the physics simulation is running"""
     sim_backend: str
     """the backend name of the physics simulation"""
-    render_device: sapien.Device
-    """the device on which the renderer is running"""
+    render_device: Union[sapien.Device, None]
+    """the device on which the renderer is running. If none then we disable rendering."""
     render_backend: str
     """the backend name of the renderer"""
 
@@ -70,6 +71,8 @@ def parse_sim_and_render_backend(sim_backend: str, render_backend: str) -> Backe
             render_device = sapien.Device("cpu")
         elif render_backend[:4] == "cuda":
             render_device = sapien.Device(render_backend)
+        elif render_backend == "none" or render_backend is None:
+            render_device = None
         else:
             # handle special cases such as for AMD gpus, render_backend must be defined as pci:... instead as cuda is not available.
             render_device = sapien.Device(render_backend)

mani_skill/examples/demo_random_action.py

@@ -25,6 +25,9 @@ class Args:
     sim_backend: Annotated[str, tyro.conf.arg(aliases=["-b"])] = "auto"
     """Which simulation backend to use. Can be 'auto', 'cpu', 'gpu'"""
 
+    render_backend: Annotated[str, tyro.conf.arg(aliases=["-rb"])] = "gpu"
+    """Which render backend to use. Can be 'gpu', 'cpu', 'none'"""
+
     reward_mode: Optional[str] = None
     """Reward mode"""
 
@@ -77,6 +80,7 @@ def main(args: Args):
         viewer_camera_configs=dict(shader_pack=args.shader),
         num_envs=args.num_envs,
         sim_backend=args.sim_backend,
+        render_backend=args.render_backend,
         enable_shadow=True,
         parallel_in_single_scene=parallel_in_single_scene,
     )
@@ -103,7 +107,7 @@ def main(args: Args):
     obs, _ = env.reset(seed=args.seed, options=dict(reconfigure=True))
     if args.seed is not None and env.action_space is not None:
             env.action_space.seed(args.seed[0])
-    if args.render_mode is not None:
+    if args.render_mode == "human":
         viewer = env.render()
         if isinstance(viewer, sapien.utils.Viewer):
             viewer.paused = args.pause
@@ -116,7 +120,7 @@ def main(args: Args):
             print("terminated", terminated)
             print("truncated", truncated)
             print("info", info)
-        if args.render_mode is not None:
+        if args.render_mode == "human":
             env.render()
         if args.render_mode is None or args.render_mode != "human":
             if (terminated | truncated).any():

mani_skill/render/utils.py

@@ -1,11 +1,14 @@
 import platform
+from typing import Union
 
 import sapien
 
 
-def can_render(device: sapien.Device) -> bool:
+def can_render(device: Union[sapien.Device, None]) -> bool:
     """Whether or not this device can render, depending on the rendering device selected"""
     # NOTE (stao): currently sapien can't tell if the render device can render or not for MacOS
     if platform.system() == "Darwin":
         return True
-    return device.can_render()
+    # NOTE (stao): sapien's can_render function is not always accurate. The alternative at the moment is to let the user
+    # try to render and if there is a bug, tell the user to disable rendering by setting render_backend to "none" or None.
+    return device is not None

{mani_skill_nightly-2025.6.28.701.dist-info → mani_skill_nightly-2025.6.28.2040.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: mani-skill-nightly
-Version: 2025.6.28.701
+Version: 2025.6.28.2040
 Summary: ManiSkill3: A Unified Benchmark for Generalizable Manipulation Skills
 Home-page: https://github.com/haosulab/ManiSkill
 Author: ManiSkill contributors

{mani_skill_nightly-2025.6.28.701.dist-info → mani_skill_nightly-2025.6.28.2040.dist-info}/RECORD

@@ -539,7 +539,7 @@ mani_skill/assets/robots/xarm7/meshes/visual/link7.glb,sha256=aZatACOv20VJbi2tOE
 mani_skill/assets/robots/xarm7/meshes/visual/link_base.glb,sha256=vcy2lN1V72jIsSDRT0ZKVskR_0pVOXtDvBkxO2GENWs,467668
 mani_skill/envs/__init__.py,sha256=YPlttBErTcf9vSnkZ54EQ8vTABSfFFrBdUY0AkF4vmg,43
 mani_skill/envs/minimal_template.py,sha256=9THHWA1vkHatptc9g5Ojh-UBUKWQmLHVeq4fcaqv2aY,2200
-mani_skill/envs/sapien_env.py,sha256=bUAojljJsacImzMB2DH6WR0Lf_lHqRJ7lzJMKIOYu88,73056
+mani_skill/envs/sapien_env.py,sha256=4fuabvPy9uCC_x3DTehdgOgyIDqIZDjzbhBsz6iiakQ,73663
 mani_skill/envs/scene.py,sha256=4ZAIJs61fwPPhfDvc3v845sj_Ftsd1sSYaju10KnXbQ,48465
 mani_skill/envs/sim2real_env.py,sha256=3mkQX4TonE2pUC5_Atmx0IYDH2_v6GSwOPJvQMEvCNY,19214
 mani_skill/envs/template.py,sha256=0wnwKjnGOF7RvTR5Gz4VopaUiFxnIioXwmb4nPVxAs8,11939
@@ -636,7 +636,7 @@ mani_skill/envs/utils/randomization/pose.py,sha256=9PPg-QMorHVe3fV4e3T-BRYu0E_8I
 mani_skill/envs/utils/randomization/samplers.py,sha256=EOkF18mmDC7fA2hgj8QC2Ag0gnf4H-4MIjOCDvTMpCE,3665
 mani_skill/envs/utils/rewards/__init__.py,sha256=66MV5YCbnpF4ac_SvTVJ000RxM1AIsclX7OatiA-Wak,22
 mani_skill/envs/utils/rewards/common.py,sha256=1lfJNWG3x7UjarHLteLXa8DCzbe_L7nYBMOBo5D9CRQ,3647
-mani_skill/envs/utils/system/backend.py,sha256=Ak_cKmYp2TKPT7PLGil25Unhij_gWtwp1aXWzTgyuVY,3137
+mani_skill/envs/utils/system/backend.py,sha256=9xk-ef8779Cj27THXkVM-sxEMQWH8bUrWiwgaf-MKCo,3309
 mani_skill/evaluation/__init__.py,sha256=PCMN6dc9zgFKuXTPmkAUEahP3XG65cKRLGMXrk5IeXY,33
 mani_skill/evaluation/evaluator.py,sha256=1EN6qAiGx3taB4vCeArUp33UZjLvBt1Ke6iUW8Z8aV0,4493
 mani_skill/evaluation/run_evaluation.py,sha256=yorphrlJKEGycHfQS8equnJHRsyjDuv77ZGNpg9wvCs,4780
@@ -644,7 +644,7 @@ mani_skill/evaluation/solution.py,sha256=e_Aa0f4sSQ56KXL7tVDPUKf7WTjcuFc5X4J76p8
 mani_skill/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 mani_skill/examples/demo_manual_control.py,sha256=Z17ER37oehS8VgtDO_4dwiy5jDgL93nT9IdCsNDf0Es,8275
 mani_skill/examples/demo_manual_control_continuous.py,sha256=tnCnKX2v1iIhtXwvWR2NzXgpf3e0y2-qAO91jJBLIO0,9679
-mani_skill/examples/demo_random_action.py,sha256=_8JY0J6qAQFQVTO1Tz_M_M4TFXveop4O-v0Itc2XCBg,5293
+mani_skill/examples/demo_random_action.py,sha256=PAgSIrd6Ek3DM0XMs4ax-by1mMzXz2U1RsTavdzgNk8,5478
 mani_skill/examples/demo_reset_distribution.py,sha256=m1I5WQptBJrXvFPdUi7TIzR_Q--_wGAFkbcKNKWlq2U,2988
 mani_skill/examples/demo_robot.py,sha256=bIeHztjM0R6yJT699WQ6jkhv6LjsiP4GWa3Whyom_qM,4881
 mani_skill/examples/demo_vis_pcd.py,sha256=50YT-YVeX4sEsXxHh0S9Ju_kra8ZcUzPfFpG3EgK2o4,2139
@@ -694,7 +694,7 @@ mani_skill/examples/teleoperation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeR
 mani_skill/examples/teleoperation/interactive_panda.py,sha256=NsGy_ghtXl3HPbwLjKINkizOXqX_rMr30lUfscmhyQ4,10423
 mani_skill/render/__init__.py,sha256=Uy6h1bzammUO8QVPVCDcuCuhnuN3e5votaho45drAGw,118
 mani_skill/render/shaders.py,sha256=g2VcASiyrP7nVDv_MlmY9CeYbNr7QDvUBdCjuDMjqQ0,7103
-mani_skill/render/utils.py,sha256=4bg90j9RRMNA9hTm8-jwc8a5C4_6r4Zwnf-0SgiFNUY,357
+mani_skill/render/utils.py,sha256=l-Kt3LTACw6Q_A7jhss0Eoc5t2LfHaFmDiH55DhLMuU,638
 mani_skill/render/version.py,sha256=Ew2TTCrI60sL_cjEpr6iuPHKKMgTMtFoWRW_MevBJ_4,254
 mani_skill/sensors/__init__.py,sha256=TW2wkhHN28dHOXujxiDO2Ill_EhJdE0e2MEbgZw7JY0,95
 mani_skill/sensors/base_sensor.py,sha256=oq_v_dPA6VC69Eq-JDo1Teq692P6KZR_omU9rQ63L_k,1665
@@ -825,8 +825,8 @@ mani_skill/vector/wrappers/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJ
 mani_skill/vector/wrappers/gymnasium.py,sha256=aNPB-2oGDLep8qzdsuTSIlwGGO0OGQAQ193LefOGoTk,7434
 mani_skill/vector/wrappers/sb3.py,sha256=SlXdiEPqcNHYMhJCzA29kBU6zK7DKTe1nc0L6Z3QQtY,4722
 mani_skill/viewer/__init__.py,sha256=srvDBsk4LQU75K2VIttrhiQ68p_ro7PSDqQRls2PY5c,1722
-mani_skill_nightly-2025.6.28.701.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
-mani_skill_nightly-2025.6.28.701.dist-info/METADATA,sha256=da_frAOt-bP2o2JgrGUYeHXu-_E9ntvzF2iugf20o58,9271
-mani_skill_nightly-2025.6.28.701.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
-mani_skill_nightly-2025.6.28.701.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
-mani_skill_nightly-2025.6.28.701.dist-info/RECORD,,
+mani_skill_nightly-2025.6.28.2040.dist-info/LICENSE,sha256=xx0jnfkXJvxRnG63LTGOxlggYnIysveWIZ6H3PNdCrQ,11357
+mani_skill_nightly-2025.6.28.2040.dist-info/METADATA,sha256=4tsIGDJelHdLjtIrbdK0CdaI_2nhI4o_PC1xEW4chpM,9272
+mani_skill_nightly-2025.6.28.2040.dist-info/WHEEL,sha256=tZoeGjtWxWRfdplE7E3d45VPlLNQnvbKiYnx7gwAy8A,92
+mani_skill_nightly-2025.6.28.2040.dist-info/top_level.txt,sha256=bkBgOVl_MZMoQx2aRFsSFEYlZLxjWlip5vtJ39FB3jA,11
+mani_skill_nightly-2025.6.28.2040.dist-info/RECORD,,